version: 66.02
glider: 103
mission: 7
dive: 158
start: 12 11 107 2 51 58
data:
$ID,103
$MISSION,7
$DIVE,158
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-65239.16
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.98249
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,023831,6241.527,-1142.450,69,1.3,69,-11.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-47.4
$GPS2,025050,6241.474,-1142.666,10,1.3,15,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.126,0.179
$KALMAN_X,-229313.9,-29.0,295.9,63030.6,-2418.0
$KALMAN_Y,-32786.7,378.4,120.8,157235.0,-5203.5
$MHEAD_RNG_PITCHd_Wd,46.4,6823,-11.1,-6.000
$D_GRID,668
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-61.88,0.000,2,0.000,0.000,42,2896,3497
$GC,85,-1.10,-146.6,4.6,-11.3,3,102,12.00,1.77,0.00,0.000,4,0.160,0.094,2165,3787,3499
$GC,353,-1.10,-146.6,33.4,-8.8,14,358,0.00,1.52,0.00,0.000,6,0.000,0.032,2165,2891,3499
$GC,680,-1.10,-146.6,57.3,-6.7,30,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2889,3499
$GC,991,-1.10,-146.6,89.5,-10.1,45,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2887,3499
$GC,1299,-1.10,-146.6,119.1,-9.8,60,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2887,3499
$GC,1608,-1.10,-146.6,141.6,-8.3,75,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2887,3500
$GC,1917,-1.10,-146.6,166.2,-6.2,90,1921,0.00,2.55,0.00,0.000,4,0.000,0.069,2165,1501,3499
$GC,1978,-1.10,-146.6,170.5,-8.1,93,1982,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2910,3499
$GC,2303,-1.10,-146.6,192.2,-7.2,109,2307,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1502,3500
$GC,2342,-1.10,-146.6,195.3,-8.1,111,2346,0.00,2.58,0.00,0.000,6,0.000,0.067,2165,2898,3499
$GC,2667,-1.10,-146.6,217.3,-7.3,127,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3499
$GC,2976,-1.10,-146.6,238.5,-6.4,142,2981,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1493,3499
$GC,3020,-1.10,-146.6,241.8,-7.8,144,3024,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2907,3499
$GC,3346,-1.10,-146.6,264.5,-7.3,160,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3499
$GC,3656,-1.10,-146.6,285.2,-6.7,175,3660,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1500,3499
$GC,3732,-1.10,-146.6,290.9,-7.5,178,3739,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2912,3499
$GC,4048,-1.10,-146.6,313.9,-7.4,194,4052,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1500,3500
$GC,4096,-1.10,-146.6,317.5,-7.5,196,4101,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2901,3499
$GC,4418,-1.10,-146.6,340.3,-6.6,212,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3499
$GC,4727,-1.10,-146.6,359.8,-6.2,227,4731,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1501,3499
$GC,4793,-1.10,-146.6,363.7,-5.9,230,4797,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2902,3499
$GC,5113,-1.10,-146.6,382.6,-6.2,246,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3499
$GC,5422,-1.10,-146.6,402.6,-6.6,261,5426,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1500,3499
$GC,5454,-1.10,-146.6,404.6,-6.8,262,5460,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2902,3500
$GC,5769,-1.10,-146.6,424.3,-6.2,278,5774,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1500,3499
$GC,5831,-1.10,-146.6,428.3,-7.0,281,5835,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2901,3500
$GC,6156,-1.10,-146.6,448.0,-6.0,297,6161,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1498,3500
$GC,6205,-1.10,-146.6,450.9,-6.3,299,6210,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2900,3500
$GC,6527,-1.10,-146.6,471.1,-6.7,315,6530,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1494,3499
$GC,6559,-1.10,-146.6,473.5,-7.0,316,6563,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2898,3499
$GC,6880,-1.10,-146.6,494.7,-6.5,332,6884,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1494,3499
$GC,6918,-1.10,-146.6,497.0,-7.0,334,6923,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2908,3500
$GC,7244,-1.10,-146.6,516.8,-6.1,350,7248,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1496,3499
$GC,7310,-1.10,-146.6,520.8,-5.9,353,7314,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2892,3499
$GC,7636,-1.10,-146.6,541.7,-6.7,369,7640,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1492,3499
$GC,7697,-1.10,-146.6,546.0,-7.4,372,7702,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2906,3499
$GC,8023,-1.10,-146.6,571.1,-8.3,388,8027,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1500,3499
$GC,8094,-1.10,-146.6,577.2,-8.6,391,8098,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2907,3499
$GC,8416,-1.10,-146.6,601.4,-7.6,407,8419,0.00,1.62,0.00,0.000,4,0.000,0.081,2165,3782,3499
$GC,8448,-1.10,-146.6,604.0,-7.8,408,8452,0.00,1.50,0.00,0.000,6,0.000,0.035,2165,2899,3499
$GC,8769,-1.10,-146.6,624.4,-5.4,424,8774,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1500,3499
$GC,8881,-1.10,-146.6,630.0,-4.8,429,8886,0.00,2.58,0.00,0.000,6,0.000,0.067,2165,2898,3499
$GC,9202,-1.10,-146.6,651.2,-7.5,445,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3499
$STATE,9488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9489,begin apogee
$GC,9495,-0.42,0.0,668.7,5.7,459,9623,0.75,0.00,125.25,1.208,6,0.094,0.000,2315,2113,2901
$STATE,9624,end apogee,CONTROL_FINISHED_OK
$STATE,9624,begin climb
$GC,9626,1.10,146.6,674.1,0.0,465,9757,1.55,2.70,121.93,1.183,4,0.056,0.061,2648,688,2303
$GC,9808,1.10,146.6,668.3,6.6,473,9815,0.00,2.55,0.00,0.000,6,0.000,0.041,2647,2103,2303
$GC,10124,1.14,173.9,654.1,5.2,489,10153,0.00,2.72,23.77,1.163,4,0.000,0.071,2647,3505,2192
$GC,10225,1.14,173.9,647.0,7.3,493,10232,0.00,2.53,0.00,0.000,6,0.000,0.041,2647,2098,2192
$GC,10541,1.14,173.9,625.1,6.3,509,10545,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3505,2191
$GC,10606,1.14,173.9,620.4,7.2,512,10611,0.00,2.53,0.00,0.000,6,0.000,0.042,2647,2099,2191
$GC,10933,1.15,184.0,601.7,5.7,528,10948,0.00,2.62,9.55,1.075,4,0.000,0.065,2648,696,2151
$GC,11072,1.15,184.0,593.3,6.7,533,11076,0.00,2.53,0.00,0.000,6,0.000,0.047,2648,2101,2151
$GC,11387,1.16,194.2,575.4,5.7,548,11402,0.00,2.67,10.05,1.079,4,0.000,0.071,2647,3509,2109
$GC,11435,1.16,194.2,572.2,6.5,549,11439,0.00,2.53,0.00,0.000,6,0.000,0.044,2647,2093,2109
$GC,11756,1.16,194.2,549.3,7.7,565,11760,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3510,2108
$GC,11787,1.16,194.2,546.8,8.1,566,11794,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2095,2108
$GC,12103,1.16,194.2,524.1,7.0,582,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2096,2108
$GC,12412,1.16,194.2,502.3,7.3,597,12416,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3511,2108
$GC,12460,1.16,194.2,498.4,7.5,599,12465,0.00,2.50,0.00,0.000,6,0.000,0.042,2647,2108,2108
$GC,12782,1.16,194.2,476.3,6.5,615,12786,0.00,2.58,0.00,0.000,4,0.000,0.062,2647,686,2108
$GC,12821,1.16,194.2,473.7,6.7,616,12827,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2101,2107
$GC,13136,1.18,205.6,454.7,5.7,632,13152,0.00,2.67,11.10,1.034,4,0.000,0.070,2648,3514,2062
$GC,13185,1.18,205.6,451.7,6.0,633,13189,0.00,2.53,0.00,0.000,6,0.000,0.042,2648,2093,2062
$GC,13506,1.18,206.2,433.2,6.0,649,13507,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2093,2061
$GC,13816,1.18,207.5,414.2,6.0,664,13820,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3512,2062
$GC,13881,1.18,207.5,409.8,6.1,667,13886,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2100,2062
$GC,14208,1.18,207.5,389.2,6.5,683,14212,0.00,2.65,0.00,0.000,4,0.000,0.070,2648,3516,2062
$GC,14246,1.18,207.5,386.4,7.4,685,14250,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2100,2062
$GC,14572,1.18,207.5,364.3,7.0,701,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2100,2062
$GC,14881,1.18,207.5,342.7,6.8,716,14885,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3509,2063
$GC,14964,1.18,207.5,336.4,7.4,720,14968,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2100,2063
$GC,15290,1.18,207.5,314.1,6.7,736,15294,0.00,2.62,0.00,0.000,4,0.000,0.070,2647,3509,2063
$GC,15321,1.18,207.5,311.7,6.6,737,15328,0.00,2.50,0.00,0.000,6,0.000,0.042,2647,2102,2063
$GC,15637,1.18,207.5,291.6,6.4,753,15638,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2102,2063
$GC,15946,1.18,207.5,271.1,6.8,768,15951,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3509,2063
$GC,16030,1.18,207.5,265.3,7.5,772,16035,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2098,2063
$GC,16356,1.18,207.5,242.5,7.0,788,16365,0.00,2.65,3.72,0.636,4,0.000,0.072,2648,3512,2055
$GC,16393,1.18,207.5,239.8,7.5,789,16399,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2093,2055
$GC,16708,1.18,207.5,217.7,7.1,805,16712,0.00,2.67,0.00,0.000,4,0.000,0.074,2647,3516,2055
$GC,16746,1.18,207.5,214.9,7.5,807,16751,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2094,2055
$GC,17072,1.18,207.5,192.9,6.6,823,17077,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3511,2055
$GC,17105,1.18,207.5,190.6,6.2,824,17111,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2099,2056
$GC,17420,1.18,207.5,169.9,6.5,840,17424,0.00,2.65,0.00,0.000,4,0.000,0.073,2647,3516,2055
$GC,17458,1.18,207.5,167.2,7.3,842,17463,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2093,2055
$GC,17785,1.18,207.5,145.4,6.6,858,17789,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3513,2055
$GC,17833,1.18,207.5,142.0,6.1,860,17838,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2102,2056
$GC,18155,1.19,218.3,123.3,5.7,876,18167,0.00,0.00,10.60,0.799,6,0.000,0.000,2648,2102,2011
$GC,18466,1.23,252.7,107.5,5.0,891,18501,0.15,2.75,28.38,0.825,4,0.044,0.075,2690,3509,1870
$GC,18540,1.23,252.7,101.6,8.9,894,18544,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2100,1870
$GC,18855,1.23,252.7,69.4,9.9,909,18856,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2100,1869
$GC,19164,1.23,252.7,40.8,7.0,924,19165,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1869
$GC,19474,1.23,252.7,19.0,9.6,939,19478,0.00,2.60,0.00,0.000,4,0.000,0.071,2690,694,1869
$GC,19505,1.23,252.7,15.8,10.6,940,19512,0.00,2.53,0.00,0.000,6,0.000,0.050,2690,2094,1869
$STATE,19654,end climb,SURFACE_DEPTH_REACHED
$STATE,19654,begin surface coast
$FINISH,0.6,1.027316
$STATE,19676,end surface coast,CONTROL_FINISHED_OK
$STATE,19676,begin surface
$SM_CCo,19698,37.15,0.755,0,0,1678,300.00
$SM_GC,0.68,0.00,0.00,37.15,0.000,0.000,0.755,49,2904,1678,-10.86,0.11,300.00
$IRIDIUM_FIX,6216.53,-1138.83,111207,060652
$TT8_MAMPS,0.029146
$HUMID,2052
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.3,58.6
$24V_AH,23.4,29.463
$10V_AH,10.1,13.980
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.375,194.900,344.350,37.150,0.000,111.151,116.978,271.998,5.750,0.000,0.000,15.981,1756.511,15311.812,536.514,2131.291,754.581,33.369,1620.383,0.000,2101.771,0.000,36.289
$DEVICE_MAMPS,159.536,94.341,1208.025,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.672,674.632,558.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47425,949
$CFSIZE,260165632,249417728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,111207,082208,6242.366,-1141.931,40,1.1,40,-11.2